/*
 * ****************************************************************************
 * Copyright (c) 2013, Daniel Murphy All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification, are permitted
 * provided that the following conditions are met:
 * * Redistributions of source code must retain the above copyright notice, this list of conditions
 *   and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright notice, this list of
 *   conditions and the following disclaimer in the documentation and/or other materials provided
 *   with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
 * WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
/*
 * JBox2D - A Java Port of Erin Catto's Box2D
 *
 * JBox2D homepage: http://jbox2d.sourceforge.net/
 * Box2D homepage: http://www.box2d.org
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 ******************************************************************************/
package org.jbox2d.collision

import org.jbox2d.common.Vec2

// updated to rev 100
/**
 * A manifold point is a contact point belonging to a contact manifold. It holds details related to
 * the geometry and dynamics of the contact points. The local point usage depends on the manifold
 * type:
 * * e_circles: the local center of circleB
 * * e_faceA: the local center of cirlceB or the clip point of polygonB
 * * e_faceB: the clip point of polygonA This structure is stored across time steps, so we keep it
 *   small.<br></br> Note: the impulses are used for internal caching and may not provide reliable
 *   contact forces, especially for high speed collisions.
 */
class ManifoldPoint {
  /** usage depends on manifold type */
  val localPoint: Vec2

  /** the non-penetration impulse */
  var normalImpulse: Float

  /** the friction impulse */
  var tangentImpulse: Float

  /** uniquely identifies a contact point between two shapes */
  val id: ContactID

  /** Blank manifold point with everything zeroed out. */
  constructor() {
    localPoint = Vec2()
    tangentImpulse = 0f
    normalImpulse = tangentImpulse
    id = ContactID()
  }

  /**
   * Creates a manifold point as a copy of the given point
   *
   * @param cp point to copy from
   */
  constructor(cp: ManifoldPoint) {
    localPoint = cp.localPoint.clone()
    normalImpulse = cp.normalImpulse
    tangentImpulse = cp.tangentImpulse
    id = ContactID(cp.id)
  }

  /**
   * Sets this manifold point form the given one
   *
   * @param cp the point to copy from
   */
  fun set(cp: ManifoldPoint) {
    localPoint.set(cp.localPoint)
    normalImpulse = cp.normalImpulse
    tangentImpulse = cp.tangentImpulse
    id.set(cp.id)
  }
}
